The architecture of the consensus filtering algorithm
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The output of this graph is used as Figure 1 of the paper: Wangyan Li, Zidong Wang, Guoliang Wei, Lifeng Ma, Jun Hu, and Derui Ding, “A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks,” Discrete Dynamics in Nature and Society, vol. 2015, Article ID 683701, 12 pages, 2015. doi:10.1155/2015/683701.It's based on http://www.texample.net/tikz/examples/hierarchical-diagram/. Relevant link: http://tex.stackexchange.com/questions/226461/how-to-draw-hierarchical-graph-like-this-one.